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The algorithm behind Google's PhotoSphere on Android 4.3/4.4
Asked Answered
algorithmpanoramasimage-stitchingphotosphere
E

1

23

The camera app on Android 4.3/4.4 under the 'Sphere mode' can stitch photos from varied directions into one spherical panorama, with very good quality.

Results illustration:

What I'm going to do is to implement an application for iPad with exactly the same functionality.

I tried two approaches:

OpenCV 2.4.8

OpenCV 2.4.8 provides with an image stitching pipeline which seems very promising at first glance. However, it has two problems:

  1. The pipeline deals with unordered input photos, as far as I know it only uses image feature matching to locate the geometric relations between photos, and the pipeline performs poorly when image feature extraction fails on blank photos (eg. white wall, blue sky). However, iPad can provide the arbitrary spatial direction data of each taken photo (with noise though), but I don't know how to utilize these data in the OpenCV stitching pipeline.

  2. I couldn't find a way to generate a 180x360 degree panorama like PhotoSphere does using this pipeline. Feeding the pipeline with photos in all directions only produces a large panorama with curved image boundary.

PanoTools

I also tried the PanoTools/Hugin lib, although this lib supports predefined photo directions, the result is quite poor and unstable. Additionally I tried using the Focal(beta) app on Google Play, whose sphere mode is also based on PanoTools/Hugin, their results (in sphere mode) seems no better than ours.

My questions:

  1. Are there any libraries which can do what Google's PhotoSphere does? Since I don't develop for commercial use, any open-source libs are acceptable.
  2. Are there any good algorithms (or technical reports, scholar papers) available? If there are any, which one is the best?
  3. How Google implements their own PhotoSphere ? Any suggestion is appreciated.
Epiblast answered 10/2, 2014 at 16:25 Comment(5)
Hi, I am looking for the same. Did you make any advance? – Loar
Have you found something to deal with photosphere? – Sheehy
Here's a library for you: github.com/robbykraft/Panorama – Samaria
I get very unstable results using Google Camera, almost always some frames are very misaligned. I don't think it has some unique algorithm, although it has good UI that uses accelerometer and compass to determine when to take photo and to show sphere coverage. – Alleviator
Has someone found any solution? – Clathrate
K
3

I consider this answer not so much a solution, but a resource for further research.

To get a very general sense of what sort of algorithms were involved in this functionality, we can study the shared object (DLL if you prefer Windows lingo) responsible for it. By listing the function names and looking them up in our favorite search engine we get several interesting hits:

Readers of this post are encouraged to go over the list of functions below and learn about the various algorithms and transformations mentioned.

Below are the steps I followed to get this list:

  1. I found a port of the camera app to Samsung [src].
  2. Inside the archive I noticed a file called libjni_mosaic.so which (to my best guess) takes care of the mosaic stitching ("photosphere").
  3. I listed the functions in this file (using nm or llvm_objdump from the Android NDK; more info):
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         U __aeabi_atexit
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         U __aeabi_unwind_cpp_pr1
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000324b8 B AffineWarpPoint_NN_LUT_y
00008939 T AllocateTextureMemory
         U __android_log_print
         U asin
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00031138 A __bss_start
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         U calloc
         U ceil
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         U cos
         U __cxa_finalize
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         U fscanf
         U fwrite
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00032048 B gBufferInputYVU
00031474 B gCancelComputation
00031d88 B gCenterOffsetX
00031d90 B gCenterOffsetY
00031e68 B gCurrentFBOIndex
00031fb8 B g_dAffinetrans
00032198 B g_dAffinetransGL
00031010 D g_dAffinetransIdentGL
00031948 B g_dAffinetransPan
00031ca8 B g_dAffinetransPanGL
000310e0 D g_dAffinetransRotation90GL
00031068 D g_dIdent3x3
00032250 B g_dTranslationToFBOCenter
00031900 B g_dTranslationToFBOCenterGL
00006e89 T GenerateQuarterResImagePlanar
         U gettimeofday
00031120 D g_iIndices
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00031050 D gIsLandscapeOrientation
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00032078 B gKinv
00031f70 B gKm
00031d98 B gKminv
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000320c0 B gWarper2
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00007809 T Java_com_android_camera_Mosaic_createMosaic
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00007b1d T Java_com_android_camera_Mosaic_getFinalMosaicNV21
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00009f81 T Java_com_android_camera_MosaicRenderer_setWarping
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00009c4d T Java_com_android_camera_MosaicRenderer_transferGPUtoCPU
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         U memmove
         U memset
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         U pow
         U printf
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000318b0 B resultBGR
000318a8 B resultYVU
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         U sem_init
         U sem_post
         U sem_wait
         U __sF
         U sin
         U sqrt
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0002c7d1 T vp_motion_cornerdiff
0002caf1 T vp_zoom_motion2d
00031144 B width
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00007e45 T checkGLErrorDetail(char const*, int, char const*)
00007ff9 T continuePanningFBO(double)
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00007d39 T checkFramebufferStatus(char const*)
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00023c69 T db_SetupImageReferences_f(float*, int, int)
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0001bbb9 W db_RotationFromMOuterProductSum(double*, double*, double*)
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00014e9d T db_MaxSuppressFilter_5x5_Aligned16_f(float**, float**, int, int, int, int, float*)
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0000ac6d T Blend::initialize(int, int, int, int)
0000b301 T Blend::ComputeMask(CSite*, BlendRect&, BlendRect&, MosaicRect&, YUVinfo&, int)
0000c429 T Blend::ClipBlendRect(CSite*, BlendRect&)
0000c2a1 T Blend::FrameToMosaic(double (*) [3], double, double, double&, double&)
0000b54d T Blend::MosaicToFrame(double (*) [3], double, double, double&, double&)
0000af4d T Blend::CropFinalMosaic(YUVinfo&, MosaicRect&)
0000c5d9 T Blend::DoMergeAndBlend(MosaicFrame**, int, int, int, YUVinfo&, MosaicRect&, MosaicRect&, float&, bool&)
0000ad71 T Blend::MosaicSizeCheck(float, float)
0000ae05 T Blend::FillFramePyramid(MosaicFrame*)
0000ca39 T Blend::FrameToMosaicRect(int, int, double (*) [3], BlendRect&)
0000ad25 T Blend::AlignToMiddleFrame(MosaicFrame**, int)
0000affd T Blend::PerformFinalBlending(YUVinfo&, MosaicRect&)
0000cc81 T Blend::SelectRelevantFrames(MosaicFrame**, int, MosaicFrame**, int&)
0000e181 T Blend::ComputeBlendParameters(MosaicFrame**, int, int)
0000b6a9 T Blend::ProcessPyramidForThisFrame(CSite*, BlendRect&, BlendRect&, MosaicRect&, YUVinfo&, double (*) [3], int)
0000b2dd T Blend::RoundingCroppingSizeToMultipleOf8(MosaicRect&)
0000ce01 T Blend::runBlend(MosaicFrame**, MosaicFrame**, int, unsigned char*&, int&, int&, float&, bool&)
0000ac2d T Blend::Blend()
0000ac2d T Blend::Blend()
0000ac45 T Blend::~Blend()
0000ac45 T Blend::~Blend()
000107a1 T Mosaic::initialize(int, int, int, int, int, bool, float)
0001098d T Mosaic::addFrameRGB(unsigned char*)
00010ac1 T Mosaic::createMosaic(float&, bool&)
000109f1 T Mosaic::balanceRotations()
000108ed T Mosaic::addFrame(unsigned char*)
000109d9 T Mosaic::getMosaic(int&, int&)
000106e9 T Mosaic::Mosaic()
000106e9 T Mosaic::Mosaic()
00010721 T Mosaic::~Mosaic()
00010721 T Mosaic::~Mosaic()
000105e5 T YUVinfo::allocateImage(unsigned short, unsigned short)
00010695 T YUVinfo::mapYUVInfoToImage(YUVinfo*, unsigned char*)
000115fd T Renderer::loadShader(unsigned int, char const*)
00011691 T Renderer::createProgram(char const*, char const*)
00011791 T Renderer::SetupGraphics(int, int)
000117fd T Renderer::SetupGraphics(FrameBuffer*)
000118d5 T Renderer::GetTextureName()
000118b1 T Renderer::InitializeGLContext()
000118d9 T Renderer::SetInputTextureName(unsigned int)
000118dd T Renderer::SetInputTextureType(unsigned int)
000118e1 T Renderer::SetInputTextureDimensions(int, int)
00011879 T Renderer::Clear(float, float, float, float)
000115b9 T Renderer::Renderer()
000115b9 T Renderer::Renderer()
000115a1 T Renderer::~Renderer()
00011591 T Renderer::~Renderer()
00011591 T Renderer::~Renderer()
0000ee45 T CDelaunay::deleteEdge(short)
0000eef9 T CDelaunay::freeMemory()
0000eec1 T CDelaunay::allocMemory(int)
0000ed81 T CDelaunay::connectLeft(short, short)
0000fd59 T CDelaunay::triangulate(SEdgeVector**, int, int, int)
0000ede5 T CDelaunay::connectRight(short, short)
0000fc41 T CDelaunay::constructList(short, int, int)
0000fd91 T CDelaunay::linkNeighbors(SEdgeVector*, int, int)
0000ef0d T CDelaunay::deleteAllEdges()
0000ef49 T CDelaunay::consolidateEdges()
0000faf1 T CDelaunay::buildTriangulation(int)
0000f4d9 T CDelaunay::ccw(short, short, short)
0000f8cd T CDelaunay::build(int, int, short*, short*, int)
0000e771 T CDelaunay::cmpev(int, int)
0000e7e9 T CDelaunay::copyev(int, int)
0000e7fd T CDelaunay::copysp(int, int)
0000ed2d T CDelaunay::splice(short, short)
0000e7c1 T CDelaunay::swapev(int, int)
0000e781 T CDelaunay::swapsp(int, int)
0000e8b1 T CDelaunay::xcmpsp(int, int)
0000e825 T CDelaunay::ycmpsp(int, int)
0000f529 T CDelaunay::doMerge(short*, short, short, short*)
0000f0fd T CDelaunay::rcssort(int, int, int, int (CDelaunay::*)(int, int), void (CDelaunay::*)(int, int), void (CDelaunay::*)(int, int))
0000f035 T CDelaunay::spsortx(short*, int, int)
0000f099 T CDelaunay::spsorty(short*, int, int)
0000ef39 T CDelaunay::freeEdge(short)
0000f439 T CDelaunay::incircle(short, short, short, short)
0000ecbd T CDelaunay::makeEdge(short, short)
0000ef19 T CDelaunay::allocEdge()
0000ecb9 T CDelaunay::CDelaunay()
0000ecb9 T CDelaunay::CDelaunay()
0000ecb9 T CDelaunay::~CDelaunay()
0000ecb9 T CDelaunay::~CDelaunay()
         U operator new[](unsigned int)
000118d5 T FrameBuffer::GetTextureName() const
00012411 T FrameBuffer::GetFrameBufferName() const
00012419 T FrameBuffer::GetWidth() const
00012415 T FrameBuffer::GetFormat() const
0001241d T FrameBuffer::GetHeight() const
0001201d T YVURenderer::VertexShaderSource() const
00012029 T YVURenderer::FragmentShaderSource() const
000118f5 T WarpRenderer::VertexShaderSource() const
00011901 T WarpRenderer::FragmentShaderSource() const
00015971 T db_CornerDetector_f::DetectCorners(float const* const*, double*, double*, int*) const
00012cc5 T db_CornerDetector_u::DetectCorners(unsigned char const* const*, double*, double*, int*, unsigned char const* const*, unsigned char) const
00011c85 T SurfaceTextureRenderer::VertexShaderSource() const
00011c91 T SurfaceTextureRenderer::FragmentShaderSource() const
         U operator new(unsigned int)
00030d30 D vtable for FrameBuffer
00030d10 D vtable for YVURenderer
00030d68 D vtable for db_Matcher_u
00030cd0 D vtable for WarpRenderer
00030d40 D vtable for db_CornerDetector_u
00030cf0 D vtable for SurfaceTextureRenderer
00030cb0 D vtable for Renderer
Kneel answered 21/3, 2023 at 15:44 Comment(0)

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